Research on 6-DOF robot inverse kinematics based on blended optimization algorithm of ELM- SSA-SCA

摘要

To enhance the resolution timeliness and accuracy of inverse kinematics of industrial robots, a robot inverse kinematics method based on ELM-SSA-SCA was proposed. The positive kinematic model of the mechanical arm with Six Degrees of Freedom was established using D-H method, and ELM (extreme learning machine) with fast training speed was used to predict the initial resolution of robot inverse kinematics. The blended optimization method of SSA (Sparrow Search Algorithm) and SCA (Sine Cosine Algorithm) was applied to optimize the obtained initial inverse solution. The position under the optimum fitness was used as the output, so as to obtain the optimum solution of inverse kinematics. It is shown from the experimental results that the algorithm based on SSA-SCA-ELM achieved inverse solutions with faster convergence rate, higher precision and better timeliness compared to the solution method based on PSA-BP neural network.